diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8daeb93..0cd20ac 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -7,24 +7,13 @@
 
 package frc4388.robot;
 
-import java.util.List;
-
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.RamseteController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
@@ -132,53 +121,7 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         // no auto
-        var autoVoltageConstraint =
-            new DifferentialDriveVoltageConstraint(
-                new SimpleMotorFeedforward( DriveConstants.ksVolts, 
-                                            DriveConstants.kvVoltSecondsPerMeter,
-                                            DriveConstants.kaVoltSecondsSquaredPerMeter), 
-                DriveConstants.kDriveKinematics, 
-                10);
-
-        TrajectoryConfig config =
-            new TrajectoryConfig(   DriveConstants.kMaxSpeedMetersPerSecond,
-                                    DriveConstants.kMaxAccelerationMetersPerSecondSquared)
-
-                .setKinematics(DriveConstants.kDriveKinematics)
-
-                .addConstraint(autoVoltageConstraint);
-        
-        Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
-            
-            new Pose2d(0, 0, new Rotation2d(0)),
-            
-            List.of(
-                new Translation2d(1, 1),
-                new Translation2d(2, -1)
-            ),
-            
-            new Pose2d(3, 0, new Rotation2d(0)),
-            
-            config
-        );
-
-        RamseteCommand ramseteCommand = new RamseteCommand(
-            exampleTrajectory,
-            m_robotDrive::getPose,
-            new RamseteController(DriveConstants.kRamseteB, DriveConstants.kRamseteZeta),
-            new SimpleMotorFeedforward(  DriveConstants.ksVolts,
-                                         DriveConstants.kvVoltSecondsPerMeter,
-                                         DriveConstants.kaVoltSecondsSquaredPerMeter),
-            DriveConstants.kDriveKinematics,
-            m_robotDrive::getWheelSpeeds,
-            new PIDController(DriveConstants.kPDriveVel, 0, 0),
-            new PIDController(DriveConstants.kPDriveVel, 0, 0),
-            
-            m_robotDrive::tankDriveVolts,
-            m_robotDrive
-        );
-
-        return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVolts(0, 0));
+        return new InstantCommand();
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 3d4cd7b..a583e33 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -508,10 +508,4 @@ public class Drive extends SubsystemBase {
   public double ticksToInches(double ticks) {
     return ticks * DriveConstants.INCHES_PER_TICK;
   }
-
-  public void tankDriveVolts(double leftVolts, double rightVolts) {
-    m_leftFrontMotor.setVoltage(leftVolts);
-    m_rightFrontMotor.setVoltage(-rightVolts);
-    m_driveTrain.feedWatchdog();
-  }
 }
\ No newline at end of file